MRPT  2.0.5
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mrpt::slam::CICP::TReturnInfo Struct Reference

Detailed Description

The ICP algorithm return information.

Definition at line 190 of file CICP.h.

#include <mrpt/slam/CICP.h>

Inheritance diagram for mrpt::slam::CICP::TReturnInfo:

Public Member Functions

 TReturnInfo ()=default
virtual ~TReturnInfo () override=default

Public Attributes

unsigned int nIterations = 0
 The number of executed iterations until convergence. More...
double goodness = 0
 A goodness measure for the alignment, it is a [0,1] range indicator of percentage of correspondences. More...
double quality = 0
 A measure of the 'quality' of the local minimum of the sqr. More...
double executionTime = 0

Constructor & Destructor Documentation

◆ TReturnInfo()

mrpt::slam::CICP::TReturnInfo::TReturnInfo ( )

◆ ~TReturnInfo()

virtual mrpt::slam::CICP::TReturnInfo::~TReturnInfo ( )

Member Data Documentation

◆ executionTime

double mrpt::slam::TMetricMapAlignmentResult::executionTime = 0

◆ goodness

double mrpt::slam::CICP::TReturnInfo::goodness = 0

◆ nIterations

unsigned int mrpt::slam::CICP::TReturnInfo::nIterations = 0

◆ quality

double mrpt::slam::CICP::TReturnInfo::quality = 0

A measure of the 'quality' of the local minimum of the sqr.

error found by the method. Higher values are better. Low values will be found in ill-conditioned situations (e.g. a corridor)

Definition at line 205 of file CICP.h.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_Classic(), and mrpt::slam::CICP::ICP_Method_LM().

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